DE10115467A1 - Tool changing system for one machine - Google Patents

Tool changing system for one machine

Info

Publication number
DE10115467A1
DE10115467A1 DE10115467A DE10115467A DE10115467A1 DE 10115467 A1 DE10115467 A1 DE 10115467A1 DE 10115467 A DE10115467 A DE 10115467A DE 10115467 A DE10115467 A DE 10115467A DE 10115467 A1 DE10115467 A1 DE 10115467A1
Authority
DE
Germany
Prior art keywords
tool
machine
tool changing
changing system
atomizer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
DE10115467A
Other languages
German (de)
Inventor
Hans-Juergen Nolte
Rainer Melcher
Michael Baumann
Stefano Giuliano
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Duerr Systems AG
Original Assignee
Duerr Systems AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Duerr Systems AG filed Critical Duerr Systems AG
Priority to DE10115467A priority Critical patent/DE10115467A1/en
Priority to US10/360,773 priority patent/US7156795B2/en
Priority to ES02007052.0T priority patent/ES2661702T3/en
Priority to EP02007052.0A priority patent/EP1245348B1/en
Publication of DE10115467A1 publication Critical patent/DE10115467A1/en
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/0009—Energy-transferring means or control lines for movable machine parts; Control panels or boxes; Control parts
    • B23Q1/0018—Energy-transferring means or control lines for movable machine parts; Control panels or boxes; Control parts comprising hydraulic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0491—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof comprising end-effector racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
    • B05B12/14—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet
    • B05B12/1454—Arrangements for controlling delivery; Arrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials or several in selected proportions to a spray apparatus, e.g. to a single spray outlet separate units comprising both a material container and a spray device permanently connected thereto being removably attached to a part of the spray apparatus, e.g. to a robot arm
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S483/00—Tool changing
    • Y10S483/901—Robot end effectors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/11—Tool changing with safety means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/13—Tool changing with control means energized in response to activator stimulated by condition sensor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/13—Tool changing with control means energized in response to activator stimulated by condition sensor
    • Y10T483/132—Responsive to tool identifying information
    • Y10T483/134—Identifying information on tool or tool holder
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/15—Tool changing with means to condition or adjust tool or tool support
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/17—Tool changing including machine tool or component
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/18—Tool transfer to or from matrix
    • Y10T483/1809—Matrix including means to latch tool
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T483/00—Tool changing
    • Y10T483/18—Tool transfer to or from matrix
    • Y10T483/1873—Indexing matrix
    • Y10T483/1882—Rotary disc

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Spray Control Apparatus (AREA)
  • Nozzles (AREA)
  • Manipulator (AREA)
  • Details Or Accessories Of Spraying Plant Or Apparatus (AREA)

Abstract

Das lösbare Teil des Werkzeugwechselsystems eines Roboters ist an dem Festteil durch eine pneumatische Verriegelung befestigt, die nur von einer in einer Werkzeugwechselstation installierten externen Steuereinrichtung bei Ablage des Werkzeugs selbsttätig gelöst werden kann.The detachable part of the tool changing system of a robot is fastened to the fixed part by a pneumatic lock, which can only be released automatically by an external control device installed in a tool changing station when the tool is put down.

Description

Die Erfindung betrifft ein Werkzeugwechselsystem für eine Ma­ schine mit einem automatisch (mehrachsig) bewegbaren Werkzeug gemäß dem Oberbegriff des unabhängigen Patentanspruchs. Insbe­ sondere kann es sich um einen Roboter und bei dessen Werkzeug um einen Zerstäuber für die Serienbeschichtung von Werkstücken wie beispielsweise Fahrzeugkarossen handeln.The invention relates to a tool changing system for a Ma machine with an automatically (multi-axis) movable tool according to the preamble of the independent claim. in particular in particular, it can be a robot and its tool an atomizer for the serial coating of workpieces such as vehicle bodies.

Stand der Technik sind Werkzeugwechselsysteme für Lackierrobo­ ter, deren Zerstäuber an einem das lösbare Teil bildenden Flansch befestigt ist, der durch pneumatische Kräfte an einem das Festteil bildenden Maschinenflansch festgehalten wird. Zum Lösen des Zerstäubers wird vom Roboter selbst ein Luftanschluß zum Öffnen eines Schließzylinders der Zerstäuberwechselein­ richtung des Roboters betätigt. Diese Luftversorgung durch den Roboter selbst kann bei Fehlsteuerung zu ungewolltem Ablösen des Zerstäubers ggf. während des Beschichtungsbetriebs führen, was nicht nur mechanische Schäden und den Ausfall der Be­ schichtungsanlage zur Folge hat, sondern auch eine unzulässige Explosionsgefährdung durch das Trennen elektrischer Verbindun­ gen des beispielsweise elektrostatischen Zerstäubers.State of the art are tool changing systems for painting robots ter, the atomizer of which forms the detachable part Is attached to the flange by pneumatic forces the machine flange forming the fixed part is held. To the When the atomizer is released, the robot itself creates an air connection to open a locking cylinder to change the atomizer direction of the robot. This air supply through the Robot itself can lead to unwanted detachment if incorrectly controlled of the atomizer, if necessary, during the coating operation, which is not just mechanical damage and failure of loading stratification system, but also an impermissible Risk of explosion by disconnecting electrical connections conditions of the electrostatic atomizer, for example.

Aufgabe der Erfindung ist ein Werkzeugwechselsystem, bei dem die Gefahr eines ungewollten Öffnens der Werkzeugwechselein­ richtung der Maschine mit Sicherheit verhindert wird.The object of the invention is a tool changing system in which there is a risk of unintentional opening of the tool change direction of the machine is prevented with certainty.

Diese Aufgabe wird durch die Merkmale des Patentanspruchs ge­ löst. This task is ge by the features of the claim solves.  

Bei dem hier beschriebenen System kann die in der Maschine enthaltene Werkzeugwechseleinrichtung erst dann geöffnet wer­ den, wenn das Werkzeug sicher fixiert in der externen Wechsel­ station abgelegt und an die dortigen Anschlüsse angedockt ist. In Beschichtungsanlagen kann es sich bei dem Werkzeug außer um einen Zerstäuber auch um sonstige Werkzeuge wie beispielsweise Haubenöffner, Meßgeräte usw. handeln. Bei elektrostatischen Lackierrobotern oder sonstigen Beschichtungsmaschinen ist fer­ ner wichtig, daß der Zerstäuber beim Lösen seiner Halterung durch Öffnen der Wechseleinrichtung zusätzlich geerdet ist.The system described here can be used in the machine included tool changer only then opened when the tool is securely fixed in the external change station and is docked to the connections there. The tool can also be used in coating systems an atomizer also around other tools such as Act hood openers, measuring devices, etc. With electrostatic Painting robots or other coating machines is fer ner important that the atomizer when loosening its bracket is additionally grounded by opening the changing device.

Die Ansteuerung des zweckmäßig an einer Außenseite des Robotes oder der sonstigen Maschine zugänglichen Luftanschlusses kann automatisch in der Wechselstation erfolgen, beispielsweise mit einem Druckluftsignal oder ggf. durch Öffnen des Verschlusses. Der außenliegende Luftanschluß hat den zusätzlichen Vorteil, daß bei Bedarf auch schnelles manuelles Trennen des Werkzeugs von der Maschine mittels einer Vorrichtung ähnlich einer Hand­ luftpumpe möglich ist.The control of the appropriate on an outside of the robot or the air connection accessible to the other machine take place automatically in the exchange station, for example with a compressed air signal or, if necessary, by opening the lock. The external air connection has the additional advantage that if necessary also quick manual cutting of the tool from the machine using a device similar to a hand air pump is possible.

Als Ausführungsbeispiel der Erfindung ist in der Zeichnung ei­ ne Halteplatte 1 einer Zerstäuberwechselstation dargestellt, deren Funktion in der gleichzeitig eingereichten Anmeldung . . . (Anwaltsakte 15425) beschrieben ist. Sie hat sechs Ablageplät­ ze 2 für die wechselbaren (nicht dargestellten) Zerstäuber, deren von dem Festteil der Maschine, beispielsweise eines La­ ckierroboters, lösbares Teil im Betrieb von einem pneumati­ schen Schließzylinder an dem Festteil festgehalten wird.As an embodiment of the invention, egg ne holding plate 1 of an atomizer exchange station is shown in the drawing, the function of which in the simultaneously filed application. , , (Attorney's file 15425). It has six storage spaces ze 2 for the exchangeable (not shown) atomizer, the releasable part of the fixed part of the machine, for example a painting robot, is held in operation by a pneumatic lock cylinder on the fixed part.

Zur Ablage wird der Zerstäuber von dem Roboter mit seinem das lösbare Teil bildenden Flansch seitlich beispielsweise längs des Pfeiles 2' in eine der gabelartigen Bereiche der Halte­ platte 1 eingesetzt. Zum Öffnen des Schließzylinders des Zerstäubers wird dieser hierbei mit seinem Luftanschluß an den Luftversorgungsanschluß 3 der Wechselstation angedockt. Die Halteplatte 1 kann drehbar oder um ihre Mittelachse schwenkbar gelagert und/oder linear beispielsweise in einer Sprühkabine verfahrbar sein.For storage, the atomizer is used by the robot with its flange forming the detachable part laterally, for example, along the arrow 2 'in one of the fork-like areas of the holding plate 1 . To open the locking cylinder of the atomizer, this is docked with its air connection to the air supply connection 3 of the exchange station. The holding plate 1 can be rotatably mounted or pivoted about its central axis and / or can be moved linearly, for example in a spray booth.

Claims (2)

1. Werkzeugwechselsystem für eine Maschine mit einem automa­ tisch bewegbaren Werkzeug und einer Werkzeugwechseleinrich­ tung, die durch ein an der Maschine angebrachtes Festteil und ein davon lösbares, das Werkzeug tragendes Teil gebildet ist,
wobei das lösbare Teil an dem Festteil durch eine pneuma­ tische Verriegelung befestigt ist, die durch Ansteuern eines Luftanschlusses der Maschine lösbar ist,
mit einer von der Maschine anfahrbaren externen Wechsel­ station, an der das Werkzeug selbsttätig von der Maschine ge­ löst und abgelegt wird,
dadurch gekennzeichnet, daß der Luftanschluß von einer in der Wechselstation installierten externen Steuereinrichtung bei Ablage des Werkzeugs betätigbar ist.1. tool changing system for a machine with an automatically movable tool and a tool changing device, which is formed by a fixed part attached to the machine and a detachable part of the tool carrying part,
wherein the detachable part is fastened to the fixed part by a pneumatic locking device which can be released by actuating an air connection of the machine,
with an external exchange station that can be approached by the machine, at which the tool is automatically released and deposited from the machine,
characterized in that the air connection can be actuated by an external control device installed in the changing station when the tool is put down. 2. Werkzeugwechselsystem nach Anspruch 1, dadurch gekenn­ zeichnet, daß die externe Steuereinrichtung einen Luftversor­ gungsanschluß enthält, der sich in einer drehbaren und/oder linear verfahrbaren Halteplatte (1) der Werkzeugwechselein­ richtung befindet, in der das Werkzeug abgelegt wird.2. Tool changing system according to claim 1, characterized in that the external control device contains an air supply connection, which is located in a rotatable and / or linearly movable holding plate ( 1 ) of the tool changing device in which the tool is stored.
DE10115467A 2001-03-29 2001-03-29 Tool changing system for one machine Ceased DE10115467A1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE10115467A DE10115467A1 (en) 2001-03-29 2001-03-29 Tool changing system for one machine
US10/360,773 US7156795B2 (en) 2001-03-29 2002-03-26 Tool change system for a machine
ES02007052.0T ES2661702T3 (en) 2001-03-29 2002-03-27 Tool change system for a machine
EP02007052.0A EP1245348B1 (en) 2001-03-29 2002-03-27 Tool changing mechanism for a machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE10115467A DE10115467A1 (en) 2001-03-29 2001-03-29 Tool changing system for one machine

Publications (1)

Publication Number Publication Date
DE10115467A1 true DE10115467A1 (en) 2002-10-02

Family

ID=7679494

Family Applications (1)

Application Number Title Priority Date Filing Date
DE10115467A Ceased DE10115467A1 (en) 2001-03-29 2001-03-29 Tool changing system for one machine

Country Status (4)

Country Link
US (1) US7156795B2 (en)
EP (1) EP1245348B1 (en)
DE (1) DE10115467A1 (en)
ES (1) ES2661702T3 (en)

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ES2661702T3 (en) 2018-04-03
US20040192524A1 (en) 2004-09-30
ES2661702T8 (en) 2018-04-17
US7156795B2 (en) 2007-01-02
EP1245348B1 (en) 2017-12-20

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